Stabilization of symmetric formations to motion around convex loops
By Derek A. Paley, Naomi Ehrich Leonard, Rodolphe Sepulchre. 2008
82 citations recorded by the source corpus.
We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms.
Subfields: Computer Networks and Communications
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In Computer Networks and Communications
Citations in the corpus
- An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination (2012, background): “For the case of circular formation and the like, the main research in [ 178], [179], [192], [194], [196] was devoted to the collective motion for nonhonolomic mobile robots with t he dynamics given in ( 6).”
- Formation tracking and attitude synchronization control of underactuated ships along closed orbits (2015, background): “With the technological development of ocean sampling and the launching of the scientific experiments [15, 16], oceanographers find that the coordinated motion along closed paths for measurements cannot use a complex ocean model [17].”